A hierarchy of probabilistic system types

Abstract We arrange various types of probabilistic transition systems studied in the literature in an expressiveness hierarchy. The expressiveness criterion is the existence of an embedding of systems of the one class into those of the other. An embedding here is a system transformation which preserves and reflects bisimilarity. To facilitate the task, we define the classes of systems and the corresponding notion of bisimilarity coalgebraically and use the new technical result that an embedding arises from a natural transformation with injective components between the two coalgebra functors under consideration. Moreover, we argue that coalgebraic bisimilarity, on which we base our results, coincides with the concrete notions proposed in the literature for the different system classes, exemplified by a detailed proof for the case of general Segala-type systems.